Remarks on augmenting stability and safety in nominal controllers: a practical perspective

This paper introduces an innovative safety-enhanced control framework that incorporates safety and stability constraints into nominal controllers through the quadratic programming approach. These constraints are defined using properly defined control Lyapunov functions and control barrier functions. In contrast to the traditional method, this framework enhances the nominal controller with stability and safety elements, eliminating the need for a controller redesign. Consequently, this increases the robustness and stability of the system while maintaining its performance. The approach is validated through a case study involving an overhead crane, which illustrates the real-world efficacy of this method.